pith. sign in

arxiv: 2512.00622 · v2 · submitted 2025-11-29 · 📡 eess.SY · cs.SY

KinesCeTI: A Modular and Size-Adaptable Force Feedback Glove with Interchangeable Actuation for the Index and Thumb

Pablo Alvarez Romeo , Mehmet Ercan Altinsoy This is my paper

Pith reviewed 2026-05-17 02:53 UTC · model grok-4.3

classification 📡 eess.SY cs.SY
keywords force feedback glovehaptic exoskeletonmodular designsize adaptabilitypassive feedbackactive feedbackone-way clutchuser studies
0
0 comments X

The pith

KinesCeTI is a modular force feedback glove that adapts to different hand sizes with interchangeable thimbles and actuation modules for the index and thumb.

A machine-rendered reading of the paper's core claim, the machinery that carries it, and where it could break.

The paper introduces KinesCeTI to address limits in current force feedback gloves such as poor size adaptability and fixed feedback types. The design uses modular thimbles that attach to fingertip or phalanx and a bidirectional tendon system that supports both passive and active modes. Two actuation modules were built and tested: a compliant ratchet-pawl for passive braking and a new one-way clutch for variable active feedback. Three user studies with twenty participants each evaluated ergonomics, performance, and usability in real and virtual tasks. Results show the glove fits varying hand sizes and delivers effective feedback, positioning it as a customizable platform for haptic work.

Core claim

KinesCeTI is a modular and size-adaptable force feedback exoskeleton for the index and thumb that incorporates interchangeable thimbles for fingertip or phalanx attachment, a bidirectional tendon transmission supporting passive and active feedback, and a modular actuation design where different systems can be attached, including a compliant ratchet-pawl braking mechanism for passive feedback and a novel one-way clutch for variable active feedback, with user studies confirming adaptability and effectiveness.

What carries the argument

The modular actuation design with interchangeable thimbles and bidirectional tendon transmission that allows attachment of different passive or active feedback systems.

If this is right

  • The same glove base can serve users with different hand sizes without custom redesign.
  • Researchers can swap actuation modules to switch between passive braking and active force application as needed.
  • Performance holds in both physical object interaction and virtual reality scenarios based on the tested tasks.
  • The platform supports customization for varied haptic research experiments rather than serving only one fixed use case.

Where Pith is reading between the lines

These are editorial extensions of the paper, not claims the author makes directly.

  • Extending the modular thimble and tendon approach to additional fingers could produce a full-hand version without starting from scratch.
  • The novel one-way clutch may support finer-grained active force profiles than standard motors in future iterations.
  • The size adaptability could prove useful in shared training or rehabilitation settings where multiple users of different sizes access the same device.

Load-bearing premise

The three user studies with twenty participants each are assumed to provide sufficient evidence that the glove adapts across a wide range of hand sizes and delivers reliable feedback in both real and virtual tasks.

What would settle it

A follow-up test with participants whose hand sizes fall well outside the range of the original twenty-person groups that shows consistent failure to fit or to produce noticeable force feedback.

Figures

Figures reproduced from arXiv: 2512.00622 by Mehmet Ercan Altinsoy, Pablo Alvarez Romeo.

Figure 1
Figure 1. Figure 1: Overview of the KinesCeTI exoskeleton, showing dorsal placement, [PITH_FULL_IMAGE:figures/full_fig_p003_1.png] view at source ↗
Figure 2
Figure 2. Figure 2: Thumb structure: (a) frontal view and ratchet-pawl mechanism for [PITH_FULL_IMAGE:figures/full_fig_p004_2.png] view at source ↗
Figure 3
Figure 3. Figure 3: Linkage algorithm: (a) successful configuration with variables indi [PITH_FULL_IMAGE:figures/full_fig_p004_3.png] view at source ↗
Figure 4
Figure 4. Figure 4: Algorithm results for (a) index and (b) thumb. Green tiles mark [PITH_FULL_IMAGE:figures/full_fig_p005_4.png] view at source ↗
Figure 5
Figure 5. Figure 5: Thimble system: (a) compliant latch design and placement, (b) latch [PITH_FULL_IMAGE:figures/full_fig_p005_5.png] view at source ↗
Figure 6
Figure 6. Figure 6: Side view of the index linkage showing the force transmission system [PITH_FULL_IMAGE:figures/full_fig_p005_6.png] view at source ↗
Figure 7
Figure 7. Figure 7: Modular actuation system: (a) main pulley socket, (b) ratchet–pawl [PITH_FULL_IMAGE:figures/full_fig_p006_7.png] view at source ↗
Figure 11
Figure 11. Figure 11: Setup for the Six-Hole Peg task. TABLE V MEASURED HAND PARAMETERS ID Mean SD Min Max ID Mean SD Min Max 1 25.04 1.81 21.3 28.58 15 50.5 3.51 44 57 2 25.24 2.8 20.98 32.53 16 54.8 2.8 49 60 3 43.66 3.84 36.47 51.61 17 59.05 2.8 54 64 4 73.38 3.69 66.37 79.66 18 66.5 2.64 62 71 5 25.61 2.35 20.29 30.15 19 69.5 3.15 62 74 6 67.11 4.66 59.1 75.38 20 61.45 3.85 55 69 7 63.07 3.35 57.59 69.13 21 67.25 3.52 61 7… view at source ↗
Figure 10
Figure 10. Figure 10: Hand postures performed in the RoM test. [PITH_FULL_IMAGE:figures/full_fig_p008_10.png] view at source ↗
Figure 12
Figure 12. Figure 12: Motion restrictions for the exoskeleton with each thimble attachment [PITH_FULL_IMAGE:figures/full_fig_p009_12.png] view at source ↗
Figure 14
Figure 14. Figure 14: Virtual setups for (a) the pick an place test and (b) softness [PITH_FULL_IMAGE:figures/full_fig_p010_14.png] view at source ↗
Figure 15
Figure 15. Figure 15: NASA-TLX results for the virtual pick and place task. [PITH_FULL_IMAGE:figures/full_fig_p011_15.png] view at source ↗
read the original abstract

Force feedback gloves in haptic applications remain constrained by limited adaptability, simplified feedback, and fixed architectures that limit force feedback versatility. To address these challenges, we present KinesCeTI, a modular force feedback exoskeleton for the index and thumb, designed as a multipurpose device adaptable to a wide range of hand sizes. The glove incorporates interchangeable thimbles for fingertip or phalanx attachment and a bidirectional tendon transmission that supports both passive and active feedback. It is combined with a modular actuation design, where different feedback systems may be attached. The system was tested with two actuation modules: a compliant ratchet-pawl braking mechanism for passive feedback and a novel one-way clutch for variable active feedback, newly introduced here. The system was evaluated in three user studies with 20 participants each, assessing ergonomics, actuation performance and usability in both real and virtual tasks. Results indicate that the glove adapts to different hand sizes and provides effective feedback with both mechanisms, highlighting its potential as a versatile platform for haptic research.

Editorial analysis

A structured set of objections, weighed in public.

Desk editor's note, referee report, simulated authors' rebuttal, and a circularity audit. Tearing a paper down is the easy half of reading it; the pith above is the substance, this is the friction.

Referee Report

2 major / 2 minor

Summary. The manuscript introduces KinesCeTI, a modular force feedback exoskeleton for the index and thumb featuring interchangeable thimbles (fingertip or phalanx attachment), bidirectional tendon transmission supporting passive/active feedback, and a modular actuation unit. Two specific actuation modules are presented: a compliant ratchet-pawl brake for passive feedback and a novel one-way clutch for variable active feedback. The system is evaluated in three user studies (20 participants each) assessing ergonomics, actuation performance, and usability across real and virtual tasks, with the central claim that the design adapts to different hand sizes and delivers effective feedback with both mechanisms.

Significance. If the user studies supply quantitative metrics, statistical tests, and hand-size range data demonstrating reliable adaptability and feedback effectiveness, the modular and interchangeable architecture could serve as a versatile platform for haptic research, filling gaps in current gloves limited by fixed architectures and poor size adaptability. The introduction of the one-way clutch mechanism and the explicit support for both passive and active modes represent concrete engineering contributions.

major comments (2)
  1. [Abstract and §5] Abstract and §5 (User Studies): the central claim that the glove 'adapts to different hand sizes and provides effective feedback' rests on three studies with 20 participants each, yet the text supplies no quantitative results, statistical analysis, error bars, force-output measurements, task-error rates, or hand-size demographics (finger length, palm width ranges or variance).
  2. [§5.1–5.3] §5.1–5.3: without a reported hand-size measurement protocol or distribution statistics, the assertion of adaptability 'to a wide range of hand sizes' cannot be evaluated; 20 participants per study may be insufficient to establish the claimed versatility if the sampled range is narrow.
minor comments (2)
  1. [Figures 4–7] Figure captions and axis labels should explicitly state units (e.g., force in N, displacement in mm) and include error bars or confidence intervals where performance data are plotted.
  2. [§2 and §3] Define all acronyms at first use (e.g., CeTI, if it is an acronym) and ensure consistent terminology between 'thimble' and 'fingertip attachment' throughout the design section.

Simulated Author's Rebuttal

2 responses · 0 unresolved

We thank the referee for the constructive and detailed feedback on our manuscript. We appreciate the emphasis on strengthening the quantitative evidence and documentation of hand-size adaptability in the user studies. We address each major comment below and will incorporate the suggested improvements in the revised version.

read point-by-point responses

  1. Referee: [Abstract and §5] Abstract and §5 (User Studies): the central claim that the glove 'adapts to different hand sizes and provides effective feedback' rests on three studies with 20 participants each, yet the text supplies no quantitative results, statistical analysis, error bars, force-output measurements, task-error rates, or hand-size demographics (finger length, palm width ranges or variance).

    Authors: We agree that the current manuscript presents summarized outcomes rather than the full quantitative details. In the revision we will expand §5 to report specific force-output measurements for both actuation modules, task performance metrics (completion times and error rates) with means, standard deviations, and error bars, and the results of appropriate statistical tests (e.g., repeated-measures ANOVA or paired t-tests with p-values and effect sizes). These additions will directly support the central claims. revision: yes

  2. Referee: [§5.1–5.3] §5.1–5.3: without a reported hand-size measurement protocol or distribution statistics, the assertion of adaptability 'to a wide range of hand sizes' cannot be evaluated; 20 participants per study may be insufficient to establish the claimed versatility if the sampled range is narrow.

    Authors: We accept this observation. The revised manuscript will include an explicit description of the hand-size measurement protocol (anatomical landmarks and instruments used) together with a table or figure presenting the distribution statistics (min, max, mean, and standard deviation) for finger lengths and palm widths across all 60 participants. We will also discuss the sampled range relative to population norms and note any limitations on generalizability while retaining the standard sample size of 20 per study, which is common in preliminary haptic usability evaluations. revision: yes

Circularity Check

0 steps flagged

No circularity: empirical hardware design evaluated via user studies

full rationale

The paper presents a modular exoskeleton glove design with interchangeable actuation and evaluates it through three user studies involving 20 participants each. No mathematical derivations, equations, fitted parameters, or theoretical chains are present in the abstract or described structure. Central claims of size adaptability and effective passive/active feedback rest directly on empirical testing results rather than reducing to self-definitions, self-citations, or ansatzes by construction. The work is self-contained as an engineering prototype paper whose assertions are externally falsifiable through the reported experiments.

Axiom & Free-Parameter Ledger

0 free parameters · 0 axioms · 0 invented entities

This is a hardware design and user-study paper with no mathematical model, fitted parameters, or new physical entities postulated; it relies on standard assumptions from mechanical engineering and human-factors testing.

pith-pipeline@v0.9.0 · 5489 in / 1118 out tokens · 31595 ms · 2026-05-17T02:53:01.947788+00:00 · methodology

discussion (0)

Sign in with ORCID, Apple, or X to comment. Anyone can read and Pith papers without signing in.

Reference graph

Works this paper leans on

44 extracted references · 44 canonical work pages

  1. [1]

    Recent advances and opportunities of active materials for haptic technologies in virtual and augmented reality,

    T.-H. Yang, J. R. Kim, H. Jin, H. Gil, J.-H. Koo, and H. J. Kim, “Recent advances and opportunities of active materials for haptic technologies in virtual and augmented reality,”Advanced Functional Materials, vol. 31, no. 39, p. 2008831, 2021

    work page 2021

  2. [2]

    Applications of haptics in medicine,

    A. R. Licona, F. Liu, D. Pinzon, A. Torabi, P. Boulanger, A. Lelev ´e, R. Moreau, M. T. Pham, and M. Tavakoli, “Applications of haptics in medicine,”Haptic Interfaces for Accessibility, Health, and Enhanced Quality of Life, pp. 183–214, 2019

    work page 2019

  3. [3]

    The impact of haptic ‘touching’technology on cultural ap- plications,

    S. Brewster, “The impact of haptic ‘touching’technology on cultural ap- plications,” inDigital applications for cultural and heritage institutions. Routledge, 2017, pp. 301–312

    work page 2017

  4. [4]

    Affective haptics: Current research and future directions,

    M. A. Eid and H. Al Osman, “Affective haptics: Current research and future directions,”IEEE Access, vol. 4, pp. 26–40, 2015

    work page 2015

  5. [5]

    Cutaneous/tactile haptic feedback in robotic teleoperation: Motivation, survey, and perspectives,

    C. Pacchierotti and D. Prattichizzo, “Cutaneous/tactile haptic feedback in robotic teleoperation: Motivation, survey, and perspectives,”IEEE Transactions on Robotics, vol. 40, pp. 978–998, 2023

    work page 2023

  6. [6]

    Survey on hand-based haptic interaction for virtual reality,

    Q. Tong, W. Wei, Y . Zhang, J. Xiao, and D. Wang, “Survey on hand-based haptic interaction for virtual reality,”IEEE Transactions on Haptics, vol. 16, no. 2, pp. 154–170, 2023

    work page 2023

  7. [7]

    5g: Personal mobile internet beyond what cellular did to telephony,

    G. Fettweis and S. Alamouti, “5g: Personal mobile internet beyond what cellular did to telephony,”IEEE Communications Magazine, vol. 52, no. 2, pp. 140–145, 2014

    work page 2014

  8. [8]

    All one needs to know about metaverse: A complete survey on technological singularity, virtual ecosystem, and research agenda,

    L.-H. Lee, T. Braud, P. Y . Zhou, L. Wang, D. Xu, Z. Lin, A. Kumar, C. Bermejo, P. Huiet al., “All one needs to know about metaverse: A complete survey on technological singularity, virtual ecosystem, and research agenda,”Foundations and trends® in human-computer interaction, vol. 18, no. 2–3, pp. 100–337, 2024

    work page 2024

  9. [9]

    The tactile modality: a review of tactile sensitivity and human tactile interfaces,

    K. Myles and M. S. Binseel, “The tactile modality: a review of tactile sensitivity and human tactile interfaces,” 2007

    work page 2007

  10. [10]

    Wearable haptic systems for the fingertip and the hand: taxonomy, review, and perspectives,

    C. Pacchierotti, S. Sinclair, M. Solazzi, A. Frisoli, V . Hayward, and D. Prattichizzo, “Wearable haptic systems for the fingertip and the hand: taxonomy, review, and perspectives,”IEEE transactions on haptics, vol. 10, no. 4, pp. 580–600, 2017. 13

    work page 2017

  11. [11]

    A review of surface haptics: Enabling tactile effects on touch surfaces,

    C. Basdogan, F. Giraud, V . Levesque, and S. Choi, “A review of surface haptics: Enabling tactile effects on touch surfaces,”IEEE transactions on haptics, vol. 13, no. 3, pp. 450–470, 2020

    work page 2020

  12. [12]

    Wearable soft technologies for haptic sensing and feedback,

    J. Yin, R. Hinchet, H. Shea, and C. Majidi, “Wearable soft technologies for haptic sensing and feedback,”Advanced Functional Materials, vol. 31, no. 39, p. 2007428, 2021

    work page 2021

  13. [13]

    Haptics: The present and future of artificial touch sensation,

    H. Culbertson, S. B. Schorr, and A. M. Okamura, “Haptics: The present and future of artificial touch sensation,”Annual review of control, robotics, and autonomous systems, vol. 1, no. 1, pp. 385–409, 2018

    work page 2018

  14. [14]

    An application-based review of haptics technology,

    G. S. Giri, Y . Maddahi, and K. Zareinia, “An application-based review of haptics technology,”Robotics, vol. 10, no. 1, p. 29, 2021

    work page 2021

  15. [15]

    Soft gloves: A review on recent developments in actuation, sensing, control and applications,

    M. Tiboni and C. Amici, “Soft gloves: A review on recent developments in actuation, sensing, control and applications,” inActuators, vol. 11, no. 8. MDPI, 2022, p. 232

    work page 2022

  16. [16]

    A review of active hand exoskeletons for rehabilitation and assistance,

    T. Du Plessis, K. Djouani, and C. Oosthuizen, “A review of active hand exoskeletons for rehabilitation and assistance,”Robotics, vol. 10, no. 1, p. 40, 2021

    work page 2021

  17. [17]

    Hand exoskeleton sys- tems—overview,

    P. W. Ferguson, Y . Shen, and J. Rosen, “Hand exoskeleton sys- tems—overview,”Wearable Robotics, pp. 149–175, 2020

    work page 2020

  18. [18]

    A systematic review of commercial smart gloves: Current status and applications,

    M. Caeiro-Rodr ´ıguez, I. Otero-Gonz ´alez, F. A. Mikic-Fonte, and M. Llamas-Nistal, “A systematic review of commercial smart gloves: Current status and applications,”Sensors, vol. 21, no. 8, p. 2667, 2021

    work page 2021

  19. [19]

    Human hand: Kinematics, statics, and dynamics,

    F. Chen Chen, A. Favetto, M. Mousavi, E. Ambrosio, S. Appendino, D. Manfredi, F. Pescarmona, G. Calafiore, and B. Bona, “Human hand: Kinematics, statics, and dynamics,” in41st International Conference on Environmental Systems, 2011, p. 5249

    work page 2011

  20. [20]

    The use of factor analysis in the development of hand sizes for glove design,

    T. M. McLain, “The use of factor analysis in the development of hand sizes for glove design,” 2010

    work page 2010

  21. [21]

    A. R. Tilley,The measure of man and woman: human factors in design. John Wiley & Sons, 2001

    work page 2001

  22. [22]

    Grip and pinch strength: normative data for adults,

    V . Mathiowetz, N. Kashman, G. V olland, K. Weber, M. Dowe, S. Rogers et al., “Grip and pinch strength: normative data for adults,”Arch Phys Med Rehabil, vol. 66, no. 2, pp. 69–74, 1985

    work page 1985

  23. [23]

    Prediction of grip and key pinch strength in 978 healthy subjects,

    F. Angst, S. Drerup, S. Werle, D. B. Herren, B. R. Simmen, and J. Goldhahn, “Prediction of grip and key pinch strength in 978 healthy subjects,”BMC musculoskeletal disorders, vol. 11, no. 1, p. 94, 2010

    work page 2010

  24. [24]

    Toward whole-hand kinesthetic feedback: A survey of force feedback gloves,

    D. Wang, M. Song, A. Naqash, Y . Zheng, W. Xu, and Y . Zhang, “Toward whole-hand kinesthetic feedback: A survey of force feedback gloves,” IEEE transactions on haptics, vol. 12, no. 2, pp. 189–204, 2018

    work page 2018

  25. [25]

    Design requirements of generic hand exoskeletons and survey of hand exoskeletons for rehabilitation, assistive, or haptic use,

    M. Sarac, M. Solazzi, and A. Frisoli, “Design requirements of generic hand exoskeletons and survey of hand exoskeletons for rehabilitation, assistive, or haptic use,”IEEE transactions on haptics, vol. 12, no. 4, pp. 400–413, 2019

    work page 2019

  26. [26]

    Haptx gloves,

    HaptX Inc., “Haptx gloves,” https://haptx.com/, accessed: 2025-09-18

    work page 2025

  27. [27]

    Senseglove,

    SenseGlove B.V ., “Senseglove,” https://www.senseglove.com/, accessed: 2025-09-18

    work page 2025

  28. [28]

    Dexmo: An inexpensive and lightweight mechanical exoskeleton for motion capture and force feedback in vr,

    X. Gu, Y . Zhang, W. Sun, Y . Bian, D. Zhou, and P. O. Kristensson, “Dexmo: An inexpensive and lightweight mechanical exoskeleton for motion capture and force feedback in vr,” inProceedings of the 2016 CHI Conference on Human Factors in Computing Systems, 2016, pp. 1991–1995

    work page 2016

  29. [29]

    Grabity: A wearable haptic interface for simulating weight and grasping in virtual reality,

    I. Choi, H. Culbertson, M. R. Miller, A. Olwal, and S. Follmer, “Grabity: A wearable haptic interface for simulating weight and grasping in virtual reality,” inProceedings of the 30th annual ACM symposium on user interface software and technology, 2017, pp. 119–130

    work page 2017

  30. [30]

    Wolverine: A wearable haptic interface for grasping in virtual reality,

    I. Choi, E. W. Hawkes, D. L. Christensen, C. J. Ploch, and S. Follmer, “Wolverine: A wearable haptic interface for grasping in virtual reality,” in2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2016, pp. 986–993

    work page 2016

  31. [31]

    Assessing assumptions in kinematic hand models: a review,

    I. M. Bullock, J. Borr `as, and A. M. Dollar, “Assessing assumptions in kinematic hand models: a review,” in2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). IEEE, 2012, pp. 139–146

    work page 2012

  32. [32]

    Development of a hand-assist robot with multi- degrees-of-freedom for rehabilitation therapy,

    S. Ueki, H. Kawasaki, S. Ito, Y . Nishimoto, M. Abe, T. Aoki, Y . Ishigure, T. Ojika, and T. Mouri, “Development of a hand-assist robot with multi- degrees-of-freedom for rehabilitation therapy,”IEEE/ASME Transac- tions on mechatronics, vol. 17, no. 1, pp. 136–146, 2010

    work page 2010

  33. [33]

    The adult human hand: some anthropometric and biome- chanical considerations,

    J. W. Garrett, “The adult human hand: some anthropometric and biome- chanical considerations,”Human factors, vol. 13, no. 2, pp. 117–131, 1971

    work page 1971

  34. [34]

    Ozsoy, Z

    T. Ozsoy, Z. Oner, and S. Oner, “An attempt to gender determine with phalanx length and the ratio of phalanxes to whole phalanx length in direct hand radiography. medicine science— international medical journal 2019: 1.”

    work page 2019

  35. [35]

    Proximal interphalangeal joint dimensions for the design of a surface replacement prosthesis,

    H. Ash and A. Unsworth, “Proximal interphalangeal joint dimensions for the design of a surface replacement prosthesis,”Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, vol. 210, no. 2, pp. 95–108, 1996

    work page 1996

  36. [36]

    Investigation of methods for estimating hand bone dimensions using x-ray hand anthropometric data,

    Y .-K. Kong, A. Freivalds, D.-M. Kim, and J. Chang, “Investigation of methods for estimating hand bone dimensions using x-ray hand anthropometric data,”International Journal of occupational Safety and Ergonomics, vol. 23, no. 2, pp. 214–224, 2017

    work page 2017

  37. [37]

    L. A. Jones and S. J. Lederman,Human hand function. Oxford university press, 2006

    work page 2006

  38. [38]

    Driving robotic exoskeletons using cable-based transmissions: a qualitative analysis and overview,

    S. Grosu, L. De Rijcke, V . Grosu, J. Geeroms, B. Vanderboght, D. Lefeber, and C. Rodriguez-Guerrero, “Driving robotic exoskeletons using cable-based transmissions: a qualitative analysis and overview,” Applied Mechanics Reviews, vol. 70, no. 6, p. 060801, 2018

    work page 2018

  39. [39]

    Preliminary study on acoustic annoyance perception in virtual reality,

    P. Alvarez Romeo and M. E. Altinsoy, “Preliminary study on acoustic annoyance perception in virtual reality,” inProceedings of DAGA 2023 – German Annual Conference on Acoustics, Hamburg, Germany, 2023, pp. 1189–1192, available: https://pub.dega-akustik.de/DAGA 2023/data/ articles/000435.pdf

    work page 2023

  40. [40]

    Comparative acoustic study of electromagnetic actuator technologies used in haptic applications,

    P. Alvarez Romeo, H. Winger, and M. E. Altinsoy, “Comparative acoustic study of electromagnetic actuator technologies used in haptic applications,” inProceedings of DAGA 2022 – German Annual Con- ference on Acoustics, Stuttgart, Germany, 2022, pp. 181–184, available: https://pub.dega-akustik.de/DAGA 2022/data/articles/000181.pdf

    work page 2022

  41. [41]

    Passively actuated clutch for enhanced backdrivability in bidirectional kinesthetic feedback applications,

    P. A. Romeo and M. E. Altinsoy, “Passively actuated clutch for enhanced backdrivability in bidirectional kinesthetic feedback applications,” in 2021 IEEE World Haptics Conference (WHC). IEEE, 2021, pp. 97–102

    work page 2021

  42. [42]

    The chai libraries,

    F. Conti, F. Barbagli, R. Balaniuk, M. Halg, C. Lu, D. Morris, L. Sentis, J. Warren, O. Khatib, and K. Salisbury, “The chai libraries,” inProceed- ings of eurohaptics, vol. 2003, 2003, pp. 496–500

    work page 2003

  43. [43]

    The nine- hole peg test as a manual dexterity performance measure for multiple sclerosis,

    P. Feys, I. Lamers, G. Francis, R. Benedict, G. Phillips, N. LaRocca, L. D. Hudson, R. Rudick, and M. S. O. A. Consortium, “The nine- hole peg test as a manual dexterity performance measure for multiple sclerosis,”Multiple Sclerosis Journal, vol. 23, no. 5, pp. 711–720, 2017

    work page 2017

  44. [44]

    Nasa-task load index (nasa-tlx); 20 years later,

    S. G. Hart, “Nasa-task load index (nasa-tlx); 20 years later,” inPro- ceedings of the human factors and ergonomics society annual meeting, vol. 50, no. 9. Sage publications Sage CA: Los Angeles, CA, 2006, pp. 904–908. Pablo Alvarez Romeoreceived the M.Sc. degree in Electronic Engineering from the University of Zaragoza, Zaragoza, Spain. He is currently a ...

    work page 2006